A Third-Order Sliding-Mode Controller for a Stepper Motor

This paper deals with the robust control problem of a stepper motor subject to parameter uncertainties and load torque perturbation. The developed algorithm is based on third-order sliding-mode control such that a desired angular motor position is accurately tracked. The proposed scheme requires the...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2009-09, Vol.56 (9), p.3337-3346
Main Authors: Defoort, M., Nollet, F., Floquet, T., Perruquetti, W.
Format: Article
Language:English
Subjects:
Acceleration
Accelerometers
Algorithms
Automatic
Control systems
Control theory
Costs
Energy consumption
Engineering Sciences
Feedback
Higher order sliding-mode control (SMC)
higher order sliding-mode observer
Motors
Robust control
Robustness
Sliding mode control
stepper motor
Steppers
Tachometers
Uncertain systems
Velocity measurement
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Summary:This paper deals with the robust control problem of a stepper motor subject to parameter uncertainties and load torque perturbation. The developed algorithm is based on third-order sliding-mode control such that a desired angular motor position is accurately tracked. The proposed scheme requires the measurement or the estimation of the motor speed and acceleration for feedback. To avoid the use of tachometers and accelerometers which add cost and energy consumption, a robust second-order sliding-mode observer is presented. Experimental results illustrate the performance and the advantages of the proposed controller.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2009.2026378